ba842fc0d1
decoupling tendons to subcomponents and fixing tendon scaling issue
2024-06-02 21:16:58 -05:00
1bbf44c99a
adding resolution parameter
2024-05-27 10:26:17 -05:00
bb2c7ae556
adding initial tendon logic
2024-05-09 08:42:29 -05:00
f6ee435005
updating geom visibility logic; fixing infinite plane texture bug; adding frame skip arg to demo
2024-05-04 13:47:02 -05:00
2d6c263687
removing outdated comments
2024-05-02 17:29:18 -05:00
7a1e2bf61e
adding demo file and unnamed geom fix
2024-05-02 17:23:48 -05:00
545c6fdc99
Merge branch 'google-deepmind:main' into main
2024-05-01 16:27:16 -05:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
d2392efe6c
Allow gl_context.GLContext to be None.
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PiperOrigin-RevId: 625927487
Change-Id: I85d5658c8ea529716aaac12b17957c59319367cc
2024-04-17 23:38:06 -07:00
2b4975811b
Fix bug in Python binding of mj_saveModel
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PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
2024-04-17 05:58:50 -07:00
225619c964
Update MuJoCo internal version to be the external version +1
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PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
2024-04-10 14:32:54 -07:00
a2dfc6d17e
updating imports
2024-04-10 14:21:46 -05:00
916b54b2b7
adding support for unnamed geoms
2024-04-10 12:20:10 -05:00
bd41b69ebb
removing test file
2024-04-10 12:03:22 -05:00
87a7da6cf0
updating capsule to consist of hemispheres instead of spheres
2024-04-10 12:00:05 -05:00
5a365603f8
Add mju_euler2Quat.
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PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
2024-04-10 06:02:50 -07:00
930d7b0487
Update MuJoCo Cmake dependency on PyBind11 to the latest release
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PiperOrigin-RevId: 622853925
Change-Id: Ic2009c8ffd5441fbb87034915f6dd850a9836660
2024-04-08 08:32:25 -07:00
f1fa9c0b8b
combining shapes into one class
2024-04-04 21:10:15 -04:00
a4b5355f46
merging with main mujoco repo
2024-04-02 16:39:04 -04:00
67a9f91c00
updating demo script
2024-04-02 15:11:37 -04:00
5d26b50fce
Remove native sensor noise sampling.
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PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
2024-03-28 15:33:03 -07:00
f0ad80f268
Merge pull request #1534 from aftersomemath:simulate-clear-load-error
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PiperOrigin-RevId: 618005670
Change-Id: Id2d33463e01dfb4193c1b22155d42c792d5d4f7d
2024-03-21 17:06:47 -07:00
848e014020
Copybara import of the project:
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--
40996ab1a05f328c2b5d1b940abb189d43f646de by Levi Burner <leviburner@gmail.com >:
[Python Viewer] load mjb files, fixes #1421
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1535 from aftersomemath:simulate-load-mjb 40996ab1a05f328c2b5d1b940abb189d43f646de
PiperOrigin-RevId: 617913250
Change-Id: I09e858495784122c29e0a3895ce43b95010003bc
2024-03-21 11:40:40 -07:00
af38845280
[Python Viewer] clear load error on successful reload, fixes #1116
2024-03-21 12:52:23 -04:00
67982c4961
Merge pull request #1509 from awesome-aj0123:camera-bug-fixes
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PiperOrigin-RevId: 617864822
Change-Id: If8bca106ecf725f9a7103eb3e009af901d6495a4
2024-03-21 09:18:04 -07:00
20c8e3e43b
Implement basic USD test
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PiperOrigin-RevId: 617302442
Change-Id: Ic598df9757288640b5f35c4e740958884b1b4698
2024-03-19 14:53:18 -07:00
df88171ae1
removing unwanted code in __init__ function temporarily
2024-03-18 18:59:22 -05:00
765ba22cd9
Merge branch 'camera-bug-fixes' into demo_script
2024-03-18 15:50:57 -05:00
d417356d73
removing tar file
2024-03-18 15:28:07 -05:00
66c044fcf4
adding demo script branch
2024-03-18 15:23:46 -05:00
c16a23d6c5
Fix typo in least squares notebook.
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PiperOrigin-RevId: 616927630
Change-Id: I06f361a6ec55f37123bd9eced29111e1920b9dc7
2024-03-18 13:23:07 -07:00
7013c288bd
bug fix for no camera; changed objid argument to obj_name
2024-03-14 09:02:34 -05:00
40baa51072
Add tutorial notebook for mujoco.minimize module.
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PiperOrigin-RevId: 615410341
Change-Id: If9748ab56fb04e5203024327e2422a3737d2aab8
2024-03-13 07:34:36 -07:00
e42f9c6490
Tweaks to basic tutorial notebook.
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PiperOrigin-RevId: 615368113
Change-Id: I888b252c75a1f6253dc78494e8348d00e8283ed7
2024-03-13 04:42:45 -07:00
b61a09aa95
Delete redundant blank lines.
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PiperOrigin-RevId: 615359482
Change-Id: If1f850d560938b0c8cf6dd13c83ed72d1faae4cc
2024-03-13 04:03:30 -07:00
1fb3ab26f0
Tweaks to LQR tutorial notebook:
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- Unify all imports in one cell.
- Make final motion more interesting by adding more noise to joints which are not critical to balancing.
PiperOrigin-RevId: 615100505
Change-Id: I8302e441b3ca52d5134c317a35f99c5f74bac36b
2024-03-12 10:52:34 -07:00
106453fa2b
Updated version number to be (v3.1.4) ahead of current release (v3.1.3)
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PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
2024-03-06 09:07:25 -08:00
a00f1b5f30
Tidy up Colab notebook files.
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PiperOrigin-RevId: 613163325
Change-Id: Iec56375bb7631b8a3035f884b3aad6b54fb7b88b
2024-03-06 04:14:11 -08:00
e2c14188ad
Updated abseil for release version v3.1.3
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PiperOrigin-RevId: 612939979
Change-Id: I0e5c5301d6d6f2139a71d8df95966124e584e14d
2024-03-05 12:57:23 -08:00
827cdfd7d5
Merge pull request #1413 from awesome-aj0123:usd-integration
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PiperOrigin-RevId: 612933036
Change-Id: Ia29230b1d91508dbc8b1cf7c76ff48c17448bf89
2024-03-05 12:33:58 -08:00
7e87c6ac44
Updated Eigen3 hash in below files for Mujoco release version v3.1.3
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- CMakeLists.txt
- MujocoDependencies.cmake
PiperOrigin-RevId: 612910476
Change-Id: I67ec8b4550abde82378a875809552fa10d4924cd
2024-03-05 11:26:16 -08:00
6b7d714291
Merge pull request #1450 from v-r-a:angmomMat
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PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
982760a63b
Improve bindings for mjd_subQuat.
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- Accept `None` for optional arguments.
- Accept 3x3 matrices for matrix arguments.
PiperOrigin-RevId: 611000820
Change-Id: Id28cdb2ae574f372ff251f94ab4557d9d2eaa80b
2024-02-27 23:55:19 -08:00
e1531f6e15
removing usd import from __init__.py
2024-02-26 10:59:33 -06:00
03a8fa9ca9
Improvements to minimize.least_squares:
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- Added central differencing option.
- Changed `mu` semantics from log10 to actual values.
- `mu` control is now more aggressive, saves a few iterations.
- Use Armijo sufficient reduction criterion.
- Added some checks for float64 and NaNs.
- Added log of final result to trace.
- Removed unhelpful QP timing.
PiperOrigin-RevId: 610096950
Change-Id: Idf1a7c3155ce8e82fc2d5fe0f2da2f16636ff63d
2024-02-24 20:42:45 -08:00
109f2d7119
Replace mj_makeEmptyFileVFS in Python bindings with mj_addBufferVFS.
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PiperOrigin-RevId: 609383859
Change-Id: Ib23ee49e803630a2895a471e9a3ed8b33551cbb9
2024-02-22 08:36:42 -08:00
7ffd43b55c
addressing PR comments
2024-02-21 10:18:13 -06:00
f721d3900d
Merge branch 'google-deepmind:main' into usd-integration
2024-02-21 07:03:55 -08:00
abf6d41b7f
Fix incorrect data types in Python bindings of certain arrays.
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The mismatch between the `py::array_t` template argument and the type of the MuJoCo struct member being wrapped caused the `py::array_t` to be constructed via an unintended constructor overload, which in turn triggered `use-after-poison` under asan.
This bug affected the `geom`, `flex`, `elem`, and `vert` arrays in `mjContact`, and all array members in `mjrContext`.
PiperOrigin-RevId: 608632860
Change-Id: Ic227f691041b004a0fcf0cb6fa3d62c44861d9aa
2024-02-20 09:26:19 -08:00
b56d4bf8a5
Add mujoco.minimize module.
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PiperOrigin-RevId: 608443678
Change-Id: Ib5dc78fe4523488b6c4e824f226591cf6a8a6216
2024-02-19 18:58:42 -08:00
Abhishek Joshi